#include "AGV.h"

uint8_t AGV_USART_RX_BUF[256]; //接收缓冲,最大USART_REC_LEN个字节.
uint16_t AGV_USART_RX_STA = 0; //接收状态标记

//CRC低位校验
const unsigned char auchCRCLo[] = {
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
    0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
    0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
    0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
    0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
    0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
    0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
    0x80, 0x41, 0x00, 0xC1, 0x81, 0x40};
//CRC高位校验
const unsigned char auchCRCHi[] = {
    0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06,
    0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD,
    0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
    0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A,
    0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4,
    0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
    0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3,
    0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,
    0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
    0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29,
    0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED,
    0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
    0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60,
    0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67,
    0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
    0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68,
    0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E,
    0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
    0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71,
    0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92,
    0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
    0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B,
    0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B,
    0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
    0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42,
    0x43, 0x83, 0x41, 0x81, 0x80, 0x40};

uint32_t crc16(uint8_t *puchMsg, uint8_t usDataLen)
{
    unsigned char uchCRCHi = 0xFF; /* 高CRC字节初始化 */
    unsigned char uchCRCLo = 0xFF; /* 低CRC 字节初始化 */
    unsigned long uIndex;          /* CRC循环中的索引 */
    while (usDataLen--)            /* 传输消息缓冲区 */
    {
        uIndex = uchCRCLo ^ *puchMsg++; /* 计算CRC */
        uchCRCLo = uchCRCHi ^ auchCRCLo[uIndex];
        uchCRCHi = auchCRCHi[uIndex];
    }
    return (uchCRCHi << 8 | uchCRCLo);
}

AGV_State AGV_Init()
{
    GPIO_InitTypeDef GPIO_InitStructure;
    USART_InitTypeDef USART_InitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB1PeriphClockCmd(AGV_USART_RCC, ENABLE); //使能USART2，GPIOA时钟
    RCC_APB2PeriphClockCmd(AGV_USART_GPIO_RCC, ENABLE);

    GPIO_InitStructure.GPIO_Pin = AGV_USART_TX_PIN; //PA.2
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
    GPIO_Init(AGV_USART_GPIO, &GPIO_InitStructure); //初始化GPIOA.2

    GPIO_InitStructure.GPIO_Pin = AGV_USART_RX_PIN;       //PA3
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
    GPIO_Init(AGV_USART_GPIO, &GPIO_InitStructure);       //初始化GPIOA.3

    USART_InitStructure.USART_BaudRate = 115200;                                    //串口波特率
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;                     //字长为8位数据格式
    USART_InitStructure.USART_StopBits = USART_StopBits_1;                          //一个停止位
    USART_InitStructure.USART_Parity = USART_Parity_No;                             //无奇偶校验位
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件数据流控制
    USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;                 //收发模式

    USART_Init(AGV_USART, &USART_InitStructure); //初始化串口2

    NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //抢占优先级3
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;        //子优先级3
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;           //IRQ通道使能
    NVIC_Init(&NVIC_InitStructure);                           //根据指定的参数初始化NVIC寄存器

    USART_ITConfig(AGV_USART, USART_IT_RXNE, ENABLE); //开启串口接受中断

    USART_Cmd(AGV_USART, ENABLE); //使能串口2

    return AGV_Seccess;
}

AGV_State AGV_ReadData(uint8_t AGV_Addr, uint16_t AGV_Reg, uint16_t dataNum, uint16_t *data)
{
    int i = 0;
    uint16_t tempcrc16;
    uint8_t temp[8];
    uint16_t timeout = 0;
    temp[0] = AGV_Addr;
    temp[1] = 0x03;
    temp[2] = AGV_Reg >> 8;
    temp[3] = AGV_Reg & 0xFF;
    temp[4] = dataNum >> 8;
    temp[5] = dataNum & 0xFF;
    tempcrc16 = crc16(temp, 6);
    temp[6] = tempcrc16 & 0xFF;
    temp[7] = tempcrc16 >> 8;
    AGV_USART_RX_STA = 0;
    for (i = 0; i < 8; i++)
    {
        while ((AGV_USART->SR & 0X40) == 0)
            ;
        USART_SendData(AGV_USART, temp[i]);
    }
    while (1)
    {
        if (timeout > 1000)
            return AGV_Fail;
        if (AGV_USART_RX_STA >= 2 * dataNum + 5)
            break;
        delay_us(200);
        timeout++;
    }
    if (crc16(AGV_USART_RX_BUF, 2 * dataNum + 3) == ((uint32_t)(AGV_USART_RX_BUF[2 * dataNum + 4]) << 8) + (uint32_t)AGV_USART_RX_BUF[2 * dataNum + 3])
        for (i = 0; i < dataNum; i++)
            data[i] = ((uint16_t)AGV_USART_RX_BUF[2 * i + 3] << 8) + (uint16_t)AGV_USART_RX_BUF[2 * i + 4];
    else
        return AGV_Fail;
    return AGV_Seccess;
}

AGV_State AGV_WriteData(uint8_t AGV_Addr, uint16_t AGV_Reg, uint16_t data)
{
    return AGV_Seccess;
}

AGV_State AGV_GetStates(uint8_t AGV_Addr, uint8_t *data)
{
    uint16_t temp[4];
    if (AGV_ReadData(AGV_Addr, 0x20, 4, temp))
        return AGV_Fail;

    data[0] = temp[0] & 0xFF;
    data[1] = temp[0] >> 8;
    data[2] = temp[1] & 0xFF;
    data[3] = temp[1] >> 8;
    data[4] = temp[2] & 0xFF;
    data[5] = temp[2] >> 8;
    data[6] = temp[3] & 0xFF;
    data[7] = temp[3] >> 8;

    return AGV_Seccess;
}

void USART2_IRQHandler(void)
{
    uint8_t res;
    if (USART_GetITStatus(AGV_USART, USART_IT_RXNE) != RESET)
    {
        res = USART_ReceiveData(AGV_USART);
        //printf("%c", res);
        AGV_USART_RX_BUF[AGV_USART_RX_STA] = res;
        AGV_USART_RX_STA++;
    }
}
